Systems and methods for doppler-enhanced radar tracking

A method for Doppler-enhanced radar tracking, comprising:

• transmitting a probe signal;
• in response to reflection of the probe signal by a tracking target, at a radar array comprising a first plurality of radar elements positioned substantially along a first radar axis, receiving a reflected probe signal, wherein the tracking target and radar array cooperatively define a target vector from the radar array to the tracking target;
• based on the reflected probe signal, determining a target range between the radar array and the tracking target;
• based on the reflected probe signal, determining a first target angle between a first reference vector and a first projected target vector;
• wherein the first projected target vector is a projection of the target vector onto a first reference plane, the first reference plane containing both of the first radar axis and the first reference vector;
• based on the reflected probe signal, determining Doppler shift information, comprising:
• determining a set of predicted target composite angles;
• and
• for each predicted target composite angle of the set, determining a respective set of frequency domain outputs;
• based on the reflected probe signal and the Doppler shift information, determining a target composite angle;
• wherein the target composite angle is an angle between the target vector and a composite reference vector;
• and
• based on the target range, the first target angle, and the target composite angle, determining a three-dimensional position of the tracking target relative to the radar array.